Minimal ROS2 Node

#cpp   #node  

---

Table of Content

Create package

ros2 pkg create <package_name> --build-type ament_cmake --dependencies <package_dependencies>

Minimal Node

minimal.cpp

#include "rclcpp/rclcpp.hpp"

class Minimal : rclcpp::Node
{
public:
  Minimal():Node("Minimal")
  {
    RCLCPP_INFO(this->get_logger(), "hello minimal node");
  }
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<Minimal>();
    rclcpp::shutdown();
    return 0;
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(cpp_tutorial)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(fmt REQUIRED)

add_executable(minimal src/minimal.cpp)
ament_target_dependencies(minimal rclcpp fmt:fmt)

install(TARGETS
  minimal
  DESTINATION lib/${PROJECT_NAME})

ament_package()

copy/install binaries

install(TARGETS <binary name/target> DESTINATION lib/${PROJECT_NAME} )

copy/install folders

install(DIRECTORY launch DESTINATION share/${PROJECT_NAME} )

---

build

# from WS root folder
colcon build --package-select <package name>

usage

source install/setup.bash
ros2 run cpp_tutorial minimal

logging

Write log to file

Write log file to file ROS2 Demo

mkdir /tmp/ros_log
export ROS_LOG_DIR=/tmp/ros_log
ros2 run cpp_tutorial minimal